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Fixed-time extended disturbance observer-based switching control of quadrotor UAV under marine wind condition

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Abstract

In this paper, an observer-based switching control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) against complex and variable marine wind. Firstly, dynamics model of quadrotor UAV along with marine wind field model is established. A fixed-time extended disturbance observer (FTEDO) is then developed to improve performance of active disturbance rejection control (ADRC) against strong wind disturbance, which is also further utilized to realize wind speed estimation simultaneously. Based on the estimated wind speed, switching mechanism is constructed for quadrotor UAV to select appropriate controller between traditional PID and FTEDO-based ADRC. Finally, effectiveness as well as performance of the proposed switching control strategy is verified by using comparative simulation tests.

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Acknowledgements

This work was supported by National Natural Science Foundation of China (Grant No. 52172402).

Data availability

The data sets generated and analysed during the current study are available from the corresponding author on reasonable request.

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Funding

Funding is provided by the National Natural Science Foundation of China (Grant No. 52172402).

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Authors and Affiliations

  1. School of Logistics Engineering, Shanghai Maritime University, Shanghai, 201306, China

    Qiyao Zhang & Tianzhen Wang

  2. School of Mechanical Engineering, Southeast University, Nanjing, 211189, China

    Xiaoyuan Zhu

Authors
  1. Qiyao Zhang
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  2. Tianzhen Wang
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  3. Xiaoyuan Zhu
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Contributions

QZ performed software, data curation, validation, writing, and visualization. TW was involved in the methodology and writing and conceptualization, XZ contributed to methodology, supervision, and funding acquisition.

Corresponding author

Correspondence to Xiaoyuan Zhu.

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The authors declare that there is no conflict of interest.

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Zhang, Q., Wang, T. & Zhu, X. Fixed-time extended disturbance observer-based switching control of quadrotor UAV under marine wind condition. Int. J. Dynam. Control 12, 1491–1501 (2024). https://doi.org/10.1007/s40435-023-01295-2

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  • DOI: https://doi.org/10.1007/s40435-023-01295-2

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